Automated small object sorting systems and methods

ABSTRACT

In various embodiments, a small object sorting system includes an object tray cart docking station configured to dock an object tray cart here within. The system additionally includes an automated tray removal and positioning subsystem configured to remove an object tray from the object tray cart, selectively position the tray such that selected small objects can be extracted therefrom, and replace the object tray into the object tray cart. Furthermore, the system includes an automated collection assembly positioning subsystem configured to selectively position a collection assembly such that the selected extracted small objects can be deposited into selected object receptacles, and an automated object extraction subsystem configured to extract the selected small objects and deposit each extracted small object into the selected object receptacles.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional of U.S. patent application Ser. No.13/637,505 filed on Dec. 7, 2012, which is a National Stage ofInternational Application No. PCT/US2011/025847, filed Feb. 23, 2011,which claims priority to U.S. Provisional Application No. 61/317,967filed on Mar. 26, 2010. The disclosures of the above applications areincorporated herein by reference in its entirety.

Additionally, the present application is related in general subjectmatter to U.S. application Ser. No. 11/769,318, filed Jun. 27, 2007, andtitled “Small Object Sorting System and Method”, which is assigned tothe assignee of the present application.

FIELD

The present disclosure relates generally to a system and method forsorting small objects, such as seeds, pharmaceutical tablets orcapsules, and any other agricultural, manufactured or produced smallobjects.

BACKGROUND

The statements in this section merely provide background informationrelated to the present disclosure and may not constitute prior art.

The sorting of small agricultural, manufactured and/or produced objectssuch as seeds, pharmaceutical tablets or capsules, small electricalcomponents, ball bearings, small food products, etc. can be cumbersome,painstakingly tedious, and wrought with human error.

For example, in seed breeding, large numbers of seeds are sampled andanalyzed to determine whether the seeds possess a particular genotype ortraits of interest. Generally, seeds are sampled by removing a smallportion of each seed, while leaving the remaining seed viable forplanting. The removed portions, or chips, and the corresponding ‘donor’seeds are then cataloged to track the seeds and the respectivecorresponding chips. Each chip is then analyzed to identify variousattributes of the respective chip and donor seed, such as DNAcharacteristics and/or traits.

After the seeds are sampled and the chips have been analyzed, the seedsare individually sorted according to attributes of each respective seed.Typically, the sorting process is painstakingly performed by hand, whichis extremely time consuming and subject to human error.

SUMMARY

The present disclosure provides automated systems and methods forsorting small objects, such as seeds, pharmaceutical tablets orcapsules, and any other agricultural, manufactured or produced smallobjects.

In various embodiments, an exemplary small object sorting systemincludes an object tray cart docking station that is structured andoperable to receive and engage an object tray cart to dock the objecttray cart within the object tray cart docking station. The systemadditionally includes an automated tray removal and positioningsubsystem that is structured and operable to remove an object tray fromthe object tray cart, wherein the object tray including a plurality ofwells and a plurality of small objects stored within the wells. Theautomated tray removal and positioning subsystem is further structuredand operable to selectively position the removed tray such that selectedones of the small objects can be extracted from the removed object tray,and replace the removed object tray into the object tray cart after theselected small objects have been extracted. Furthermore, the systemincludes an automated collection assembly positioning subsystem that isstructured and operable to selectively position a collection assemblysuch that the selected one or more small objects extracted from theremoved object tray can be deposited into selected one or more of aplurality of object receptacles of the collection assembly. The systemstill further includes an automated object extraction subsystem that isstructured and operable to extract the selected one or more smallobjects from the object tray and deposit each extracted small objectinto the selected one or more object receptacles.

In various other embodiments, an exemplary small object sorting methodincludes docking an object tray cart within an object tray cart dockingstation of an automated small object sorting system and removing anobject tray from the object tray cart utilizing an automated trayremoval and positioning subsystem of the automated small object sortingsystem, wherein the object tray includes a plurality of wells and aplurality of small objects stored within the wells. The methodadditionally includes selectively positioning the removed tray,utilizing the automated tray removal and positioning subsystem, suchthat selected ones of the small objects can be extracted from theremoved object tray. Furthermore, the method includes selectivelypositioning a collection assembly of the automated small object sortingsystem, utilizing an automated collection assembly positioning subsystemof the automated small object sorting system, such that the selected oneor more small objects extracted from the removed object tray can bedeposited into a selected one or more of a plurality of objectreceptacles of the collection assembly. The method still furtherincludes extracting the selected one or more small objects from theobject tray and depositing each extracted small object into the selectedone or more object receptacles utilizing an automated object extractionsubsystem of the automated small object sorting system. Further yet, themethod includes replacing the removed object tray into the object traycart after the selected small objects have been extracted utilizing theautomated tray removal and positioning subsystem.

In yet other embodiments, an exemplary seed sorting system includes aseed tray cart docking station that is structured and operable toreceive and engage a seed tray cart to dock the seed tray cart withinthe seed tray cart docking station. The system additionally includes anautomated tray removal and positioning subsystem that is structured andoperable to remove a seed tray from the seed tray cart, wherein the seedtray including a plurality of wells and a plurality of seeds storedwithin the wells. The automated tray removal and positioning subsystemis further structured and operable to selectively position the removedtray such that selected ones of the seeds can be extracted from theremoved seed tray, and replace the removed seed tray into the seed traycart after the selected seeds have been extracted. Furthermore, thesystem includes an automated collection assembly positioning subsystemthat is structured and operable to selectively position a collectionassembly such that the selected one or more seeds extracted from theremoved seed tray can be deposited into selected one or more of aplurality of seed receptacles of the collection assembly. The systemstill further includes an automated seed extraction subsystem that isstructured and operable to extract the selected one or more seeds fromthe seed tray and deposit each extracted seed into the selected one ormore seed receptacles. The system further yet includes a seed extractionverification assembly that is structured and operable to verify that theseed extraction subsystem extracted each of the selected seeds from theseed tray.

Further areas of applicability of the present teachings will becomeapparent from the description provided herein. It should be understoodthat the description and specific examples are intended for purposes ofillustration only and are not intended to limit the scope of the presentteachings.

DRAWINGS

The drawings described herein are for illustration purposes only and arenot intended to limit the scope of the present teachings in any way.

FIG. 1A is an isometric view of a front side of an automated smallobject sorting system, in accordance with various embodiments of thepresent disclosure.

FIG. 1B is an isometric view of a back side of the automated smallobject sorting system shown in FIG. 1A, in accordance with variousembodiments of the present disclosure.

FIG. 2A is an isometric view of the automated small object sortingsystem shown in FIGS. 1A and 1B, illustrating a small object tray cartdocking station, in accordance with various embodiments of the presentdisclosure.

FIG. 2B is an isometric view of a front side of a small object tray cartstructured to be docked within the docking station shown in FIG. 2A, inaccordance with various embodiments of the present disclosure.

FIG. 2C is an isometric view of a back side of the small object traycart shown in FIG. 2B, in accordance with various embodiments of thepresent disclosure.

FIG. 2D is an isometric view of a small object sorting tray structuredto be stored in the small object tray cart shown in FIGS. 2B and 2C, andretain small objects sorted by the automated small object sorting systemshown in FIGS. 1A and 1B, in accordance with various embodiments of thepresent disclosure.

FIG. 2E is an isometric view of the docking station shown in FIG. 2Ahaving a small object tray cart docked therein, in accordance withvarious embodiments of the present disclosure.

FIG. 3A is an isometric view of a tray removal and positioning subsystemof the small object sorting shown in FIGS. 1A and 1B, in accordance withvarious embodiments of the present disclosure.

FIG. 3B is an isometric view of the tray removal and positioningsubsystem shown in FIG. 3A illustrating a tray shuttle fixture, inaccordance with various embodiments of the present disclosure.

FIG. 3C is an isometric view of the tray removal and positioningsubsystem shown in FIG. 3A illustrating a tray lid removal assembly, inaccordance with various embodiments of the present disclosure.

FIG. 4A is an isometric view of a collection assembly positioningsubsystem and a small object extraction subsystem of the small objectsorting shown in FIGS. 1A and 1B, in accordance with various embodimentsof the present disclosure.

FIG. 4B is an isometric view of an object transfer subassembly of thesmall object extraction subsystem shown in FIG. 4A, in accordance withvarious embodiments of the present disclosure.

FIG. 4C is an isometric view of a nozzle head of the object transfersubassembly shown in FIG. 4B, in accordance with various embodiments ofthe present disclosure.

FIG. 4D is an isometric view of a nozzle head carriage of the objecttransfer subassembly shown in FIG. 4B, in accordance with variousembodiments of the present disclosure.

FIG. 4E is an isometric view of a multi-receptacle planter-ready traystructured to be retained within a collection assembly of the smallobject sorting shown in FIGS. 1A and 1B, in accordance with variousother embodiments.

FIG. 5 is an isometric view of a portion of the automated small objectsorting system shown in FIGS. 1A and 1B, illustrating a small objectextraction verification assembly, in accordance with various embodimentsof the present disclosure.

FIG. 6 is a block diagram of a central control system of the automatedsmall object sorting system shown in FIGS. 1A and 1B, in accordance withvarious embodiments of the present disclosure.

Corresponding reference numerals indicate corresponding parts throughoutthe several views of drawings.

DETAILED DESCRIPTION

The following description is merely exemplary in nature and is in no wayintended to limit the present teachings, application, or uses.Throughout this specification, like reference numerals will be used torefer to like elements.

Referring to FIGS. 1A and 1B, an automated small object sorting system10 is provided for automatically, i.e., robotically, sorting smallobjects and depositing the sorted objects into selected receptaclesbased on particular attributes of each sorted object, e.g.,characteristics and/or traits such as size, shape, color, composition,quality, weight, genetic traits, etc. The objects can be any smallobjects, items, parts or products that are desired to be sorted orseparated based on particular attributes of each sorted object. Forexample, the sorting system 10 can be utilized to sort such smallobjects such as seeds and other agricultural products, pharmaceuticaltablets or capsules, small electrical components, ball bearings, smallfood products, etc.

Generally, the sorting system 10 includes a small object tray dockingstation 14, an automated, or robotic, tray removal and positioningsubsystem 18, an automated, or robotic, collection assembly positioningsubsystem 22, an automated, or robotic, small object extractionsubsystem 26, a small object extraction verification assembly 30, and acomputer based central control system 34. The control system 34 isoperable to control the automated and cooperative functions andoperations of the small object tray docking station 14, the tray removaland positioning subsystem 18, the collection assembly positioningsubsystem 22, the small object extraction subsystem 26, and the smallobject extraction verification assembly 30, i.e., the automatedoperation of the sorting system 10, as described below.

The sorting system 10 additionally includes a pneumatic supply assembly35 that is connected to a vacuum source (not shown). In variousembodiments, the pneumatic supply assembly 35 includes a vacuum bar 36that is connected to the vacuum source and operates as a conduit forproviding a vacuum to a plurality of regulators 37 coupled thereto. Theregulators 37, as controlled by the central control system 34, regulatepneumatic command signals e.g., vacuum and/or expansion/positivepressure signals, sent to various systems, subsystems, assemblies,subassemblies, devices, apparatuses, and components of the sortingsystem 10. More particularly, the central control system 34 controls theoperation of the regulators 37 to provide, monitor, condition and/ormodulate positive pressure signals and/or vacuum signals utilized tooperate the various systems, subsystems, assemblies, subassemblies,devices, apparatuses, and components of the sorting system 10, asdescribed herein. It should be understood that sorting system 10includes a plurality of various vacuum and/or pressure line, e.g.,flexible tubing, that connect the regulators 37 to, and communicate thepneumatic command signals e.g., vacuum and/or expansion/positivepressure signals to, the various systems, subsystems, assemblies,subassemblies, devices, apparatuses, and components of the sortingsystem 10. However, for clarity, many of the vacuum and/or pressurelines are not illustrated of the various figures described herein.

Alternatively, the various systems, subsystems, assemblies,subassemblies, devices, apparatuses, and components of the sortingsystem 10 can be operated utilizing other energy sources such aselectricity, hydraulics, etc.

Additionally, it should be understood that the sorting system 10, asshown and described herein, includes various stationary braces, beams,platforms, pedestals, stands, etc., to which the various components,devices, mechanisms, systems, subsystems, assemblies and subassembliesdescribed herein are supported, coupled, connected and/or mounted.Although such braces, beams, platforms, pedestals, stands, etc., arenecessary to the construction of the sorting system 10, description oftheir placement, orientation and interconnections are not necessary forone skilled in the art to easily and fully comprehend the structure,function and operation of the sorting system 10. Particularly, suchbraces, beams, platforms, pedestals, stands, etc., are clearlyillustrated throughout the figures and, as such, their placement,orientation and interconnections are easily understood by one skilled inthe art. Therefore, for simplicity, such braces, beams, platforms,pedestals, stands, etc. will be referred to herein merely as systemsupport structures, absent further description of their placement,orientation and interconnections.

Referring now to FIGS. 2A, 2B, 2C and 2D, the tray cart docking station14 is structured and operable to receive and engage a small object traycart 38 such that the small object tray cart 38 is temporarily retained,i.e., docked, within the docking station 14. In various implementations,the small object tray cart 38 can include casters, rollers or wheels 42that allow the cart 38 to be moved from a non-docked location into thedocking station 14. Additionally, the small object tray cart 38 includesa plurality of tray guides 46 disposed on, i.e., formed in or attachedto, opposing sidewalls 50 of the cart 38. The tray guides 46 arestructured and disposed on the opposing sidewalls 50 such that each of aplurality of small object sorting trays 54 can be supported within thecart 38 by opposing guides 46 to thereby removably store each of thetrays 54 within the cart 38. Each sorting tray 54 includes a pluralityof wells 86, wherein each well 86 is structured to retain a single smallobject.

In various embodiments, the small object tray cart 38 can be selectedfrom a plurality of like small object tray carts 38, wherein each cart38 has retained therein selected different sorting trays 54, eachsorting tray 54 including a plurality of small objects residing withinthe respective well 86.

In various embodiments, the small object tray cart 38 can include a traylocking mechanism 58 that is structured and operable to engage each ofthe small object sorting trays 54 to retain the sorting trays 54 withinthe cart 38 until such time as the tray locking mechanism 58 is operatedto disengage the sorting trays 54. The locking mechanism 58 can be anymechanism, device or assembly operable to retain the sorting trays 54within the cart 38 and release the trays 54 upon a disengaging operationof the locking mechanism 58. For example, in various embodiments thelocking mechanism 58 can include a spring loaded, or otherwise biased,shaft 62 having a plurality of locking arms 66 radially extending fromthe shaft 62. In such embodiments, the locking arms are spaced apart adistance equal to the spacing between adjacent tray guides 46 and theshaft 62 is biased upward, via a spring or other biasing device, to alocking position wherein each of the locking arms 66 engages a sortingtray 54 supported by a respective set of opposing tray guides 46 (noteach set of opposing tray guides necessarily has a sorting tray 54supported thereon).

For example, when the locking mechanism 58 is in the locking position,each locking arm 66 can engage an appropriate one of a pair of handlingchannels 70 formed at opposing ends of each sorting tray 54.Additionally, in such embodiments, the locking mechanism 58 can includea release lever 74 radially extending from the shaft 62 through a slot78 formed in a back of the cart 38. When the cart 38 is docked withinthe docking station 14, as described below, the release lever 74 ispositioned adjacent and in close proximity to a locking mechanismrelease actuator 82. The locking mechanism release actuator 82 iscontrollably operable, e.g., via the central controller 34, to pushdownward on the release lever 74, opposing and overcoming the upwardbiasing force on the shaft 62, thereby disengaging the locking arms 66from the handling channels 70 of each tray 54 retained within the cart38. Accordingly, once the cart 38 is docked in the docking station 14,the locking mechanism 58 is disengaged, via the release actuator 82, sothat each of the trays 54 can be selectively removed from the cart 38 bythe tray removal and positioning subsystem 18, as described below.

Referring particularly to FIG. 2A, as described above, the sortingsystem 10 is operable to sort small objects and deposit the sortedobjects into selected receptacles based on particular attributes of eachsorted object, e.g., characteristics and/or traits such as size, shape,color, composition, quality, weight, genetic traits, etc. Morespecifically, the sorting system 10 is structured and operable toreceive the small object tray cart 38 in the docking station 14,automatically remove selected sorting trays 54 from the cart 38, extractselected small objects from each removed sorting tray 54, and depositeach extracted small object into selected receptacles 98 removablydisposed on, or within, a collection assembly 100 of the collectionassembly positioning subsystem 22.

Hence, to utilize the sorting system 10 to sort the small objects storedwithin the sorting trays 54 of the cart 38, the cart 38 must bepositioned within the docking station 14, either manually or viaautomation. The docking station 14 includes a cart receiving assembly 90that is structured and operable to locate and retain the cart 38 in aspecific position and orientation relative to the tray removal andpositioning subsystem 18. In various embodiments, the cart receivingassembly 90 includes a pair of opposing upper guide arms 94 spaced aparta distance substantially equal to the width of the cart 38, i.e., thedistance between the outer surfaces of the opposing cart sidewalls 50.As the cart 38 is being positioned within the docking station 14, e.g.,as the cart 38 is being pushed into the docking station 14, the guidearms 94 guide the cart 38 into the docking station 14 such that cart 38is positioned and oriented with a front of the cart 38 adjacent aingress/egress window 102 of the tray removal and positioning subsystem18, and an exposed leading edge of each sorting tray 54 extends into theingress/egress window 102, hereafter referred to as the cart 38 being inthe docked position or being docked.

The cart receiving assembly 90 further includes a pair of opposing cartstabilizers 106 that engage the opposing sidewalls 50 to retain the cart38 in the docked position. In various embodiments, each cart stabilizer106 can comprise a pliable roller that frictionally engages and slightlyprotrudes into a recess, groove, raised lip, or channel formed at theleading edge of each respective sidewall 50 when the cart 38 is fullyengaged in the docked position. Additionally, the cart receivingassembly 90 includes one or more cart locks 108 that are operable tosecure the cart 38 within the docking station 14, i.e., secure the cart38 in the docked position. The cart locks 108 can be any device,mechanism, apparatus or latch structured and operable to firmly retainthe cart 38 within the docking station 14 during operation of thesorting system 10, e.g., as the trays 54 are being removed and replacedfrom the cart 38 by the tray removal and positioning subsystem 18, asdescribed below. For example, in various embodiments, the one or morecart locks 108 can comprise solenoids mounted at distal ends of theguide arms 94 that are electrically actuated to extend a piston, plungeror rod that physically contacts the cart 38, e.g., a back side of thecart 38, to securely maintain and stabilize the cart 38 within thedocking station 14. Or, in other exemplary embodiments, the one or morecart locks 108 can comprise biased pistons, plungers or rods mounted atdistal ends of the guide arms 94 that are manually operated tophysically contact the cart 38 to securely maintain and stabilize thecart 38 within the docking station 14.

Referring additionally to FIG. 2E, in various embodiments, the dockingstation 14 further includes a cart information device reader 110 that isstructured and operable to read a cart information device 114 affixed tothe cart 38, e.g., affixed to a top surface of the cart 38. The cartinformation device 114 can include various information and/or dataregarding or pertaining to the cart 38, the one or more sorting trays 54stored in the cart 38 and/or the particular small objects stored in therespective sorting tray(s) 54. For example, in various embodiments, thecart information device 114 can provide a coded list identifying each ofone or more sorting trays 54 stored in the cart 38. Therefore, once thecart 38 is docked, the central control system 34 communicates with andcontrols the cart information device reader 110 to read the cartinformation device 114 and receive the information/data therebyprovided. The cart information/data read and received is utilized to asdata inputs to one or more system control algorithm, or program,executed by the central control system 34 to control the operation ofthe sorting system 10, as described below. The read cartinformation/data can be, at least temporarily, compiled and stored inany desirable format, for example, the cart information/data can bestored in one or more electronic databases, spreadsheets and/or look-uptables accessible and readable by the central control system 34.

The cart information device 114 can be any machine-readableidentification device, label or tag suitable for containing or storinginformation and data, readable or retrievable by the cart informationdevice reader 110, regarding or pertaining to the cart 38, the one ormore sorting trays 54 stored in the cart 38 and/or the particular smallobjects stored in the respective sorting tray(s) 54. For example, invarious implementations, the cart information device 114 can comprise atwo-dimensional matrix code or other machine-readable label, tag ordevice, such as a radio frequency identification (RFID) tag or a barcode label, from which the information/data can be received andinterpreted via wireless communication such as optical signals, e.g.,infrared signals, or magnetic fields. Similarly, the cart informationdevice reader 110 can be any device suitable for reading the cartinformation device 114, i.e., retrieving the information/data containedin the cart information device 114, and communicating the retrievedinformation/data to the central control system 34. For example, invarious implementations, the cart information device reader 110 cancomprise a device structured and operable to read a two-dimensionalmatrix code or other machine-readable label, tag or device, such as anRFID tag reader or a bar code label reader, operable to read theinformation/data stored in the respective cart information device 114via wireless communication such as optical signals, e.g., infraredsignals, or magnetic fields.

Referring now to FIGS. 3A, 3B and 3C, the tray removal and positioningsubsystem 18 is structured and operable to remove the small object trays54 from the small object tray cart 38, controllably position eachremoved tray 54 such that selected ones of the small object can beextracted therefrom, and replace each tray 54 into the cart 38 after theselected small objects have been extracted. More particularly, the trayremoval and positioning subsystem 18 includes a tray locating assembly118 that is structured and operable, as controlled by the centralcontrol system 34, to sequentially remove selected trays 54 from thedocked cart 38, controllably position each removed tray 54 along alongitudinal axis of the tray locating assembly 118 and reinsert eachremoved tray 54 into the docked cart 38 after selected small objectshave been extracted from each respective tray 54. Additionally, the trayremoval and positioning subsystem 18 includes a tray locating assemblylift 122 that is structured and operable, as controlled by the centralcontrol system 34, to selectively raise and/or lower the tray locatingassembly 118.

Specifically, the tray locating assembly lift 122 is operable toselectively move the tray locating assembly 118 along a longitudinalaxis of the tray locating assembly lift 122 such that tray locatingassembly 118 is controllably positioned adjacent each tray 54 to beremoved from the cart 38. Furthermore, the tray locating assembly lift122 is structured and operable to selectively raise and/or lower thetray locating assembly 118 in coordination with the operation of thetray locating assembly such that selected small objects can be removedfrom each tray 54 by the small object extraction subsystem 26, asdescribed below.

The tray locating assembly lift 122 includes a support fixture 126 and aY-axis elevator 130. The support fixture 126 is movably mounted to theelevator 130 and the tray locating assembly 118 is fixedly mounted tothe support fixture 126. The elevator 130 is controllable by the centralcontrol system 34 to bi-directionally move the tray locating assembly118 along the longitudinal axis of the elevator 130, i.e., in the ⁺Y and⁻Y directions. That is, the elevator 130 is operable to raise and lowerthe tray locating assembly 118, as controlled by the central controlsystem 34. The elevator 130 can be any assembly, system or mechanismstructured and operable to controllably move the tray locating assembly118 bi-directionally along the longitudinal axis of the elevator 130.For example, in various embodiments, the elevator 130 can comprise apneumatically, hydraulically or electrically controlled threaded shaftsystem, wire or cable pulley system, piston system, conveyor beltsystem, linear motor, or any other suitable positioning systemstructured and operable to move the tray locating assembly 118bi-directionally along the longitudinal axis of the elevator 130, ascontrolled by the central control system 34.

In various embodiments, the tray locating assembly 118 includes ashuttle translation stage 134 disposed between a pair of opposing traysupport rails 138 structured to support sorting trays 54 as they areremoved from the small object tray cart 38 by the tray locating assembly118. The tray locating assembly 118 additionally includes a tray shuttle142 movably mounted to the shuttle translation stage 134 and isstructure and operable to engage each selected sorting tray 54 such thateach respective sorting tray 54 can be removed from the cart 38,controllably position each removed sorting tray 54 on the tray locatingassembly 118, and replace each sorting tray 54 into the cart 38.

The shuttle translation stage 134 is controllable by the central controlsystem 34 to bi-directionally move the tray shuttle 142 along thelongitudinal axis of the shuttle translation stage 134, i.e., in the ⁺Xand ⁻X directions. Particularly, the shuttle translation stage 134 isoperable, in coordination with operation of the elevator 130, toselectively remove sorting trays 54 from the tray cart 38, controllablyposition the removed sorting trays 54 along the length of the traysupport rails 138 such that selected small objects can be extracted fromeach removed sorting tray 54 by the small object extraction subsystem26, and replace, or reinsert, the sorting trays 54 into the cart 38. Theshuttle translation stage 134 can be any assembly, system or mechanismstructured and operable to controllably move the tray shuttle 142bi-directionally along the longitudinal axis of the shuttle translationstage 134, thereby removing, positioning and replacing the sorting trays54. For example, in various embodiments, the shuttle translation stage134 can comprise a pneumatically, hydraulically or electricallycontrolled threaded shaft system, wire or cable pulley system, pistonsystem, conveyor belt system, a linear motor, or any other suitablepositioning system (not shown) that is structured and operable tobi-directionally move the tray shuttle 142 along the longitudinal axisof the shuttle translation stage 134, as controlled by the centralcontrol system 34.

As best seen in FIG. 3B, the tray shuttle 142 includes a tray handlingbar 146 disposed at a distal end of the tray shuttle 142, i.e., disposedat the end of the tray shuttle 142 nearest the docking station 14. Thetray handling bar 146 is structure to fit within the tray handlingchannels 70 of each sorting tray 54 (shown in FIG. 2D). As shown in FIG.2D, the tray handling channels 70 include a window 150, i.e., a gap,space, or opening, that is sized to accommodate a neck portion 154 ofthe tray shuttle 142. Hence, by coordinated operation of the elevator130 and the shuttle translation stage 134, as controlled by the centralcontrol system 34, the tray handling bar 146 can be positioned withinand engage the tray handling channel 70. Therefore, via the engagementof the tray handling bar 146 within the tray handling channel 70, thetray shuttle 142 can be controllably positioned along the shuttletranslation stage 134 to remove a selected sorting tray 54 from the cart38, controllably position the removed sorting tray 54 along the traysupport rails 138 as selected small objects are extracted from theremoved sorting tray 54, and replace the removed sorting tray 54 intothe cart 38 after the selected small objects have been extracted.

More specifically, to remove a selected sorting tray 54 from a dockedcart 38, the central control system 34 controls the operation of theelevator 130 and the shuttle translation stage 134 to move the trayshuttle 142 at or near a leading end 154 of the tray support rails 138such that the tray handling bar 146 is adjacent and slightly below thetray handling channel 70 of a selected sorting tray 54. The shuttletranslation stage 134 is then operated to slightly move the tray shuttle142 in the ⁺X direction such that the tray handling bar 146 is directlybelow the tray handling channel 70 of the selected sorting tray 54. Theelevator 130 is then operated to slightly raise the tray shuttle 142 andtray support rails 138 in the ⁺Y direction such that the tray handlingbar 146 is disposed within and engages the tray handling channel 70 ofthe selected sorting tray 54. Subsequently, the shuttle translationstage 134 is operated to move the tray shuttle in the ⁻X direction,whereby the tray handling bar 146, via engagement with the tray handlingchannel 70, pulls the selected sorting tray 54 out of the docked traycart 38 such that the selected sorting tray 54 is supported on traysupport rails 138.

Additionally, via engagement of the tray handling bar 146 with the trayhandling channel 70, the shuttle translation stage 134 can be operatedto controllably position the removed sorting tray 54 anywhere along thelength of the tray support rails 138, and the elevator 130 can beoperated to controllably raise and/or lower removed sorting tray 54 inorder to position the removed sorting tray 54 for extraction of selectedsmall objects, as described below. Once all the selected small objectshave been extracted from the removed sorting tray 54, the shuttletranslation stage 134 and the elevator 130 can be operated to positionthe tray support rails 138 adjacent opposing tray guides 46 of thedocked tray cart 38 and push the removed sorting tray 54 onto the trayguides 46, thereby replacing the removed sorting tray 54 back into thedocked tray cart 38.

Referring additionally to FIGS. 2D and 2E, in various embodiments, thetray locating assembly 118 can include a tray information device reader158 that is structured and operable to read a tray information device162 affixed to each sorting tray 54. In various embodiments each trayinformation device 162 can be affixed to an exterior edge of therespective tray handling channel 70 and the tray information devicereader 158 can be affixed to an end of the shuttle translation stage 134near the docking station 14, or any other location on the tray locatingassembly 118 near the docking station 114.

Each tray information device 162 can include various information anddata regarding or pertaining to the small objects residing the wells 86of the respective sorting tray 54. For example, in various embodiments,each tray information device 162 can provide coded informationidentifying each small object within the respective sorting tray 54 anddetailing particular attributes of each small object within therespective sorting tray 54, e.g., characteristics and/or traits such assize, shape, color, composition, quality, weight, genetic traits, etc.Additionally, each tray information device 162 can provide informationidentifying the location, e.g., Cartesian coordinates, of eachrespective small object within the respective sorting tray 54, moreparticularly, the location of the respective well 86 in which each smallobject resides. Therefore, once the cart 38 is docked, the centralcontrol system 34 communicates with and controls the tray locatingassembly 118 and the tray information device reader 158 to read the trayinformation device 162 of each sorting tray 54 stored in the cart 38 andreceive the information thereby provided. The information read andreceived is utilized as data inputs to the one or more system controlalgorithms, or programs, executed by the central control system 34 tocontrol the operation of the sorting system 10, e.g., the extraction ofselected small objects from selected ones of the sorting trays 54 storedin the cart 38, as described below. The tray information/data can be, atleast temporarily, compiled and stored in any desirable format, forexample, the cart information/data can be stored in one or moreelectronic databases, spreadsheets and/or look-up tables accessible andreadable by the central control system 34.

As described above, the cart information device 114 can include variousinformation and data regarding or pertaining to the cart 38 and the oneor more sorting trays 54 stored in the cart 38. For example, in variousembodiments, the cart information device 114 can include informationidentifying the particular sorting trays 54 that are stored in therespective cart 38. In such embodiments, once the cart 38 is docked, asdescribed above, the cart information device 114 can be read by the cartinformation device reader 110 to obtain the information identifying theparticular sorting trays 54 that are stored in the respective cart 38.Subsequently, the elevator 130 of the tray removal and positioningsubsystem 18 can be operated to raise and/or lower the shuttletranslation stage 134 such that the tray information device reader 158can read the tray information device 162 of each sorting tray 54 storedin the cart 38 to obtain information identifying each of the sortingtrays 54. The tray identification information acquired from each of thetray information devices 162 can then be compared, via the centralcontrol system 34, with the information acquired from cart informationdevice 114 to verify that the respective cart 38 has the correct sortingtrays 54 stored therein.

Each tray information device 162 can be any machine-readableidentification device, label or tag suitable for containing or storinginformation and data, readable or retrievable by the tray informationdevice reader 158, regarding or pertaining to the respective sortingtray 54 and the respective small objects residing therein. For example,in various implementations, each tray information device 162 cancomprise a two-dimensional matrix code or other machine-readable label,tag or device, such as a radio frequency identification (RFID) tag or abar code label, from which the information/data can be received andinterpreted via wireless communication such as optical signals, e.g.,infrared signals, or magnetic fields. Similarly, the tray informationdevice reader 158 can be any device suitable for reading the trayinformation devices 162, i.e., retrieving the information/data containedin each tray information device 162, and communicating the retrievedinformation/data to the central control system 34. For example, invarious implementations, the tray information device reader 158 cancomprise a device structured and operable to read a two-dimensionalmatrix code or other machine-readable label, tag or device, such as anRFID tag reader or a bar code label reader, operable to read theinformation/data stored in each tray information device 162 via wirelesscommunication such as optical signals, e.g., infrared signals, ormagnetic fields.

Referring particularly to FIG. 3C, in various embodiments, the automatedtray removal and positioning subsystem 118 includes an automated traylid removal assembly 166 that is structured and operable to remove a lid170 from each sorting tray 54 removed from the docked cart 38 andreplace the lid 170 prior to replacing the sorting tray 54 into thedocked cart 38. More particularly, in various embodiments, each sortingtray 54 stored in the cart 38 has a respective lid 170 removablyconnected thereto. Each lid 170 operates to retain each of the smallobjects within the wells 86 of the respective sorting tray 54. Each lid170 can be removably connected to the respective sorting tray 54 usingany suitable connecting or fastening means.

For example, in various implementations, each sorting tray 54 caninclude a plurality of L-shaped spring clips 174 attached to opposinglongitudinal sides of the sorting tray 54, and each lid 170 can includea plurality of mating cutouts 178. In such implementations, each lid 170can be installed on, or connected to, the respective sorting tray 54 bypositioning the lid 170 onto a top surface of the respective sortingtray 54 such the cutouts 178 are placed around the tray spring clips174. The lid 170 can then be slid across the tray top surface such thatperimeter edges of the lid 170 slide under the spring clips 174, therebyremovably connecting the lid 170 to, or retaining the lid 170 on, therespective sorting tray 54. To remove the lid 170 from the respectivesorting tray 54 the process is reversed, whereby the lid 170 is slidacross the tray top surface until the cutouts 178 align with the springclips 174 such that the lid 170 can then be lifted or removed from therespective sorting tray 54.

In various embodiments, the lid removal assembly 166 includes a vacuumcup head 182 mounted to a distal end of a linear actuator 186, e.g., apneumatic actuator, mounted to system support structure such that thevacuum cup head 182 is positioned above the tray support rails 154 ofthe tray locating assembly 118. The actuator 186 is operable, ascontrolled by the central control system 34, to raise and lower thevacuum cup head 182 in the ⁺Y and ⁻Y directions. The vacuum cup head 182includes a plurality of vacuum cups 190 one or more of which areconnected to one or more of the vacuum regulators 37 such that acontrolled vacuum can be provided at selected vacuum cups 190.

As described above, tray lid removal assembly 166 is structured andoperable to remove the lid 170 from each sorting tray 54 removed fromthe docked cart 38 by the tray removal and positioning subsystem 18 andreplace the lid 170 prior to the sorting tray 54 being replaced into thedocked cart 38 by the tray removal and positioning subsystem 18. Moreparticularly, after a sorting tray 54 having a lid 170 connected thereto(the tray-lid assembly 54/170) is removed from the cart 38, the traylocating assembly 118 moves the tray-lid assembly 54/170 along the traysupport rails 138 to a position directly beneath the vacuum cup head182. Additionally, the tray locating assembly lift 122 raises or lowersthe tray locating assembly 118 such that the tray-lid assembly 54/170 ispositioned at a particular height, i.e., a particular distance from thevacuum cup head 182.

The actuator 186 is then operated, as controlled by the central controlsystem 34, to lower the vacuum cup head 182 to a position wherein thevacuum cups 190 are in contact with the lid 170 of the tray-lid assembly54/170. A vacuum is then provided at one or more of the vacuum cups 190and the actuator is operated to raise the vacuum cup head 182, therebyremoving the lid 170 from the tray-lid assembly 54/170. In variousimplementations, wherein the lid 170 is connected to the sorting tray 54via the spring clips 174, as described above, once the vacuum cups 190are placed on contact with the lid 170 and the vacuum is applied at thevacuum cup(s) 170, the vacuum cup head 182 can be slightly raised, orthe tray locating assembly 118 can be slightly lowered, slightlyseparate at least a portion of the lid 170 from the sorting tray 54 tobreak any static electric bond or vacuum formed between the lid 170 andthe sorting tray 54. The tray locating assembly 118 is then operated tomove the sorting tray 54 in the ⁺X or ⁻X direction, as the lid 170 isheld stationary by the vacuum cup head 182, such that the lid cutouts178 align with the respective L-shaped spring clips 174. That is, thesorting tray 54 is moved such that the perimeter edge of the lid 170 isslid under the spring clips 174 until the cutouts 178 align with thespring clips 174, thereby disconnecting, or disengaging the lid 170 fromthe sorting tray 54. Subsequently, the actuator 186 can be operated toraise the vacuum cup head 182 while the vacuum continues to be appliedto the vacuum cup(s) 190 such that the lid 170 is lifted off of and awayfrom the sorting tray 54. The lid 170 is raised to a parked positionthat is a sufficient distance above the sorting tray 54 to allow accessby the small object extraction subsystem 26 to the small objectsresiding in the tray wells 86. The selected small objects can then beextracted by the small object extraction subsystem 26 as describedbelow.

Referring now to FIGS. 4A, 4B, 4C and 4D, the automated small objectextraction subsystem 26 is structured and operable to extract one ormore selected small objects from each sorting tray 54 removed from thecart 38, and deposit each extracted small object into selected smallobject receptacles 98 removably disposed on, or within, the collectionassembly 100 of the collection assembly positioning subsystem 22. Theextraction subsystem 26 includes at least one transfer assembly 198extending between the tray removal and positioning subsystem 18 and thecollection assembly positioning subsystem 22. In various embodiments, asillustrated in FIG. 4A, the extraction subsystem 26 can include a pairof opposing transfer assemblies 198 extending between the tray removaland positioning subsystem 18 and the collection assembly positioningsubsystem 22 to increase the rate of sorting of the small objects, asdescribed herein. In the embodiments having more than one transferassembly 198, each transfer assembly is substantially the same instructure and function. Therefore, for simplicity, only a singletransfer assembly 198 will be described.

The transfer subassembly 198 includes a nozzle head 202 removablymounted to a nozzle head carriage 206 that is movably mounted to acarriage transporter 210. The carriage transporter 210 is structured andoperable, as controlled by the central control system 34, tobi-directionally move the nozzle head carriage 206 and, moreparticularly, the nozzle head 202 along the longitudinally axis of thecarriage transporter 210, i.e., in the ⁺Z and ⁻Z directions, between thetray removal and positioning subsystem 18 and the collection assemblypositioning subsystem 22.

The nozzle head carriage 206 includes a base plate 214 extendingsubstantially orthogonally from a back plate 212 that is mounted to acarriage bracket 222. The carriage bracket 222 is slidingly mounted to,or within, tracks 226 of the carriage transporter 210 such that thenozzle head carriage 206 and, more particularly, the nozzle head 202 canbe bi-directionally moved along the tracks 226 between the tray removaland positioning subsystem 18 and the collection assembly positioningsubsystem 22, as controlled by the central control system 34.Additionally, the nozzle head 202 comprises a mounting plate 230 havingan array 234 of vacuum nozzles 238 disposed therein, or attachedthereto. Moreover, the vacuum nozzles 238 are geometrically arrangedwithin the nozzle array 234 such that the spacing between radial centerpoints of adjacent nozzles 238 corresponds with the spacing betweenradial center points of adjacent wells 86 of the respective sorting tray54.

The nozzle head 202 is removably mounted to the nozzle head carriage206. More specifically, the nozzle head mounting plate 230 is removablyconnectable to the carriage base plate 214 using any fastening means,device, component, assembly or system suitable for securely and stablyconnected the nozzle head 202 to the nozzle head carriage 206 in a fixedposition. For example, the nozzle head mounting plate 230 can beremovably connected to the carriage base plate 214 utilizing magnets,locking pins, biased clamps or latches, thumb screws, wing nuts andbolts or any other suitable fastener. Therefore, a first nozzle head 202having a certain number of vacuum nozzles 238, e.g., twelve, of aspecific size and spacing, can be easily removed and replaced, i.e.,interchanged, with a second nozzle head 202 having a different number ofvacuum nozzles 238, e.g., twenty-four, of a different specific size andspacing.

For example, in various embodiments, the nozzle head mounting plate 230can be removably mounted to the carriage base plate 214, via a magneticconnection. In such embodiments, one or both of the nozzle head mountingplate 230 and the carriage base plate 214 can include one or moremagnetic coupling inserts 242 disposed in the interfacing surfaces ofthe mounting and base plates 230 and 214. The magnetic coupling inserts242 disposed in the nozzle head mounting plate 230 are fabricated, i.e.,have material properties, such that they are magnetically attracted tothe magnetic coupling inserts 242 disposed in the carriage base plate214 and/or vice versa. Moreover, the magnetic coupling inserts 242 arelocated within the interfacing surfaces such that the magnetic couplinginserts 242 disposed in the nozzle head mounting plate 230 willmagnetically mate, or couple, with the magnetic coupling inserts 242disposed in the carriage base plate 214.

The magnetic coupling inserts 242 can by any insert having magneticproperties suitable to magnetically couple the nozzle head mountingplate 230 to the carriage base plate 214. For example, in variousembodiments, the magnetic coupling inserts 242 disposed in the nozzlehead mounting plate 230 can comprise magnets of a first polarity and themagnetic coupling inserts 242 disposed in the carriage base plate 214can comprise magnets of the opposite polarity such that an attractiveforce is exerted between the opposing magnetic coupling inserts 242 thatis utilized to magnetically couple the nozzle head mounting plate 230 tothe carriage base plate 214. Alternatively, the magnetic couplinginserts 242 disposed in the nozzle head mounting plate 230 can comprisemagnets and the magnetic coupling inserts 242 disposed in the carriagebase plate 214 can comprise a ferrous material such that an attractiveforce is exerted between the magnet inserts 242 and the ferrous materialinserts 242 that is utilized to magnetically couple the nozzle headmounting plate 230 to the carriage base plate 214. Or, the magneticcoupling inserts 242 disposed in the nozzle head mounting plate 230 canbe a ferrous material and the magnetic coupling inserts 242 disposed inthe carriage base plate 214 can comprise magnets such that an attractiveforce is exerted between the magnet inserts 242 and the ferrous materialinserts 242 that is utilized to magnetically couple the nozzle headmounting plate 230 to the carriage base plate 214.

Additionally, in various embodiments, to securely and stably connect thenozzle head 202 to the nozzle head carriage 206 in a fixed position, thecarriage base plate 214 and/or the nozzle head mounting plate 230 caninclude one or more locating pins 246 that securely mate with locatingpin receiving wells 250 formed in respective opposing carriage baseplate 214 and/or the nozzle head mounting plate 230. More particularly,when the nozzle head mounting plate 230 is mounted to the carriage baseplate 214, as described above, the locating pins 246 securely mate withthe receiving wells 250 to maintain the mounting plate 230 and thecarriage base plate 214 in fixed position and orientation with respectto each other.

The carriage transporter 210 can be any assembly, system or mechanismstructured and operable to controllably move the nozzle head andcarriage 202 and 206 bi-directionally along the longitudinal axis of thecarriage transporter 210. For example, the carriage transporter 210 cancomprise a pneumatically, hydraulically or electrically controlledthreaded shaft system, wire or cable pulley system, piston system,conveyor belt system, linear motor, or any other suitable positioningsystem structured and operable to move the nozzle head and carriage 202and 206 along the length of the carriage transporter 210, as controlledby the central control system 34. Particularly, in various embodiments,the carriage transporter 210 can comprise a linear motor structured andoperable to produce a controllable linear force exerted on the nozzlehead carriage bracket 222 to controllably move the nozzle head andcarriage 202 and 206 between the tray removal and positioning subsystem18 and the collection assembly positioning subsystem 22.

Referring particularly to FIGS. 4B and 4C, each of the vacuum nozzles238 of the nozzle array 234 are communicatively connected to one of theregulators 37 in the pneumatic supply assembly 35. As controlled by thecentral control system 34, each nozzle regulator 37 provides vacuumsignals to each of the respective vacuum nozzles 238, via acorresponding vacuum line 254, e.g., a flexible vacuum line, to activatethe respective nozzles 238, as described below. Although each vacuumnozzle 238 is communicatively coupled to a respective nozzle regulator37 via a corresponding vacuum line 254, for simplicity and clarity onlya single vacuum line 254 is shown in FIGS. 4B and 4C. The nozzleregulators 37 are vacuum pressure regulators that monitor, conditionand/or modulate vacuum signals communicated to each of the nozzles 238via the vacuum lines 254. Generally, the nozzle regulators 37 includeswitches, valves, and sensors to control and regulate the vacuumpressure for each respective nozzle 238.

Generally, each vacuum nozzle 238 includes a tubular body having aninternal passage defined therein. Each vacuum line 254 is removablycoupled to a proximal end of the respective vacuum nozzle 238. Invarious embodiments, the proximal end of each vacuum nozzle 238 caninclude a quick coupling fixture 258 that is structured and operable toallow the respective vacuum line 254 to be easily connected to andremoved from the proximal end of the respective vacuum nozzle 238.Accordingly, as controlled by the central control system 34, theregulators 37 regulate vacuum pressure signals communicated, via thevacuum lines 254, to a tip 262 of each respective vacuum nozzle 238.More particularly, a vacuum can be controllably and selectively providedto the tips 262 of selected vacuum nozzles 238 to extract, i.e., remove,one or more selected small objects from the removed sorting tray 54, asdescribed further below. Once the small object(s) have been extracted,the vacuum is maintained at the respective nozzle tips 262 such that theextracted small object(s) are retained on the respective tips 262 whilethe nozzle head 202 is moved, via the nozzle head carriage transporter210, from the tray removal and positioning subsystem 18 to thecollection assembly positioning subsystem 22. The extracted smallobjects are then deposited into selected small object receptacles 98, asalso described further below.

In various embodiments, each nozzle tip 262 can be customized tooptimize handling of each small object as it is extracted from thesorting tray 54 and deposited in the selected receptacle 98. Forexample, in various embodiments, each nozzle tip 262 can be structuredor formed to accommodate the shape of the wells 86 of the sorting tray54. For example, if the wells 86 have a shallow, rounded, concave shape,each nozzle tip 262 can be structured or formed to have wider roundedconvex shape such that each nozzle tip 262 operates more efficientlywhen extracting an object from the wells 86. Alternatively, if the wells86 have a deeper, cylindrical, flat bottom shape, each nozzle tip 262can be structured or formed to have narrow, cylindrical shape with aflat distal end such that each nozzle tip 262 operates more efficientlywhen extracting an object from the wells 34. Additionally, in variousembodiments, each vacuum nozzle tip 262 includes a screen-like devicehaving a plurality of openings spaced apart such that the small objectscan be extracted without damaging the object. Furthermore, in variousembodiments, each nozzle tip 262 can be interchangeable to meet thehandling preferences or requirements of various different small objects.

Referring now to FIG. 4A, the automated collection assembly positioningsubsystem 22 is structured and operable to selectively position thecollection assembly 100 such that the selected one or more small objectextracted from the removed sorting tray 54 can be deposited into theselected one or more of seed receptacles 98. The collection assemblypositioning subsystem 22 includes a collection assembly translationstage 266 and the collection assembly 100. The collection assembly 100is movably mounted to the collection assembly translation stage 266 andis structure and operable to removably retain a multi-receptaclereceiving fixture 270 that includes the plurality of small objectreceptacles 98. The collection assembly 100 additionally includes amulti-funnel small object disposition fixture 274 that includes aplurality of funnels 278 structured to receive the small objectsextracted from the removed sorting tray 54 and funnel extracted smallobjects into the one or more selected small object receptacles 98.

The collection assembly translation stage 266 is controllable by thecentral control system 34 to bi-directionally move the collectionassembly 100, receptacle fixture 270 and receptacles 98 along thelongitudinal axis of the collection assembly translation stage 266,i.e., in the ⁺X and ⁻X directions. Particularly, the collection assemblytranslation stage 266 is operable to position the selected ones of thefunnels 278 of the multi-funnel small object disposition fixture 274directly beneath the nozzle head 202, more particularly, directlybeneath the nozzle array 234, positioned at a disposition end 280 of thecarriage transporter 210 after the selected small objects have beenextracted from the removed sorting tray 54, as described below. In thevarious embodiments wherein the small object extraction subsystem 26includes a plurality of transfer assemblies 198, i.e., a plurality ofnozzle head carriage transporters 210, the collection assemblytranslation stage 266 is operable to position the selected funnels 278directly beneath the nozzle head 202 of each transfer assembly 198 asthe respective nozzle head 202 is transported to the respectivedisposition end 280 of the respective carriage transporter 210.

For example, in embodiments wherein the small object extractionsubsystem 26 includes a pair of opposing transfer assemblies 198, i.e.,a pair of opposing nozzle head carriage transporters 210, the centralcontrol system 34 can control operation of the carriage transporters 210such that as one carriage transporter 210 positions the respectivenozzle head 202 at the respective disposition end 280 to depositextracted small objects in the receptacles 98, the other carriagetransporter 210 is operated to position the respective nozzle head 202at an extraction end 282 (shown in FIG. 3B) of the respective carriagetransporter 210 to extract small objects from the removed sorting tray54. Hence, as each nozzle head 202 is transported to the disposition end280 of the respective carriage transporter 210, the collection assemblytranslation stage 266 is operated to position the selected ones of thefunnels 278 directly beneath the respective nozzle head 202, moreparticularly beneath the respective nozzle array 234, at the dispositionend 280 of the respective carriage transporter 210. As described above,in the embodiments having more than one transfer assembly 198, eachtransfer assembly is substantially the same in structure and function.Therefore, for simplicity, cooperative operation of tray removal andpositioning subsystem 18, the collection assembly positioning subsystem22 and the small object extraction subsystem 26 will be described hereinwith reference to only a single transfer assembly 198.

The collection assembly translation stage 266 can be any assembly,system or mechanism structured and operable to controllably move thecollection assembly 100, receptacle fixture 270 and receptacles 98bi-directionally along the longitudinal axis of the collection assemblytranslation stage 266. For example, the collection assembly translationstage 266 can comprise a pneumatically, hydraulically or electricallycontrolled threaded shaft system, wire or cable pulley system, pistonsystem, conveyor belt system, linear motor, or any other suitablepositioning system structured and operable to move the collectionassembly 100, receptacle fixture 270 and receptacles 98 along the lengthof collection assembly translation stage 266, as controlled by thecentral control system 34. Particularly, in various embodiments, thecollection assembly translation stage 266 can comprise a linear motorstructured and operable to produce a controllable linear force exertedon the collection assembly 100 to controllably position the selectedones of the collection assembly funnels 278 beneath the nozzle head 202position at the disposition end 280 of the carriage transporter 210,whereby the one or more extracted small objects can be deposited intothe selected ones of the receptacles 98.

Referring now to FIGS. 3A, 3B, 3C and 4A, once a selected sorting tray54 is removed from the cart 38 by the tray removal and positioningsubsystem 18, as described above, the central control system 34 executesthe one or more system control algorithms to coordinated the operationof the tray removal and positioning subsystem 18 and the small objectextraction subsystem 26 to extract selected small objects from theremoved sorting tray 54. More particularly, the central control system34 utilizes selection data input to the central control system 34 priorto initiation of the operation of the sorting system 10 and the sortingtray identification data and small object identification data acquiredby the cart information device reader 110 and the tray informationdevice reader 158 to sequentially remove particular sorting trays 54from the cart 38 and extract particular small objects from each removedsorting tray 54. Still more specifically, the selection data stipulateswhich small objects stored in the cart 38 are to be extracted anddeposited, i.e., sorted, into the small object receptacles 98. Then,utilizing the sorting tray information/data and small objectidentification data acquired by the cart information device reader 110and the tray information device reader 158, as described above, theparticular sorting trays 54 storing the stipulated small objects to besorted into the receptacles 98 are sequentially removed from the cart 38and the stipulated small objects are extracted.

To extract the selected small objects from each removed sorting tray 54,i.e., the small objects stipulated to be extracted by the selection datainput to the central control system 34, the central control system 34controls the operation of the tray removal and positioning subsystem 18and the small object extraction subsystem 26 as follows. The carriagetransporter 210 is operated to transport the nozzle head 202 to or nearthe extraction end 282 of the carriage transporter 210. At, or about,the same time, the tray locating assembly 118 and the tray locatingassembly lift 122 are operated to position the small objects stipulatedfor extraction, i.e., the selected small objects, at or near a locationbeneath the carriage transporter extraction end 282.

More specifically, utilizing the known location of each small objectswithin the removed sorting tray 34, as provided by the small objectidentification data acquired by the tray information device reader 158,the following movements of the tray removal and positioning subsystem 18and the small object extraction subsystem 26 are coordinated to positionone or more of the small objects stipulated for extraction, i.e., one ormore of the selected small objects, directly beneath and in closeproximity to the nozzle tips 262 of the nozzle array 234 positioned at,or near, the carriage transporter extraction end 282.

The removed sorting tray 34 is moved along the tray support rails 138 inthe ⁺X and/or ⁻X direction to position one or more of the selected smallobjects in alignment, in the ⁺Z and ⁻Z direction, with the nozzle head202. The nozzle head 202 is then moved in the ⁺Z and/or ⁻Z direction, asneeded, to locate one or more selected small objects directly beneathand in close proximity to the nozzle tips 262 of the nozzle array 234.That is, the tip 262 of each of nozzles 238 in the nozzle array 234 isdirectly above a corresponding one of the sorting tray wells 86 and inclose proximity to the respective small object residing in each of thecorresponding wells 86, one, some or all of which are selected smallobjects.

Alternatively, the nozzle head 202 can be moved in the ⁺Z and/or ⁻Zdirection to position one or more of the selected small objects inalignment, in the ⁺X and ⁻X direction, with the nozzle head 202. Theremoved sorting tray 34 is then moved along the tray support rails 138in the ⁺X and/or ⁻X direction, as needed, to position one or moreselected small objects directly beneath and in close proximity to thenozzle tips 262 of the nozzle array 234. Hence, the tip 262 of each ofnozzle 238 in the nozzle array 234 is directly above a corresponding oneof the sorting tray wells 86 and in close proximity to the respectivesmall object residing in each of the corresponding wells 86, one, someor all of which are selected small objects.

In various embodiments, once the one or more small objects stipulatedfor extraction are positioned directly beneath and in close proximity tothe nozzle tips 262 of the nozzle array 234, the tray locating assemblylift elevator 130 can be operated to slightly raise the removed sortingtray 54 such that the tip 262 of each nozzle 238 lightly contacts thesmall object residing in each of the corresponding wells 86.

The central control system 34 then commands selected regulators 37 tocommunicate a vacuum pressure to the tip 262 the nozzles 238corresponding to the one or more small objects stipulated forextraction. Hence, one, some or all of the nozzles 238 can be activatedby the central control system 34, i.e., one, some or all of the nozzles238 can be provided with a vacuum pressure at the respective tip 262,depending on the number of corresponding small objects that are to beextracted. Although a single nozzle 238 can be activated to extract asingle small object, extraction of the one or more small objects will bedescribed herein in the plurality.

Utilizing the vacuum pressure, the activated nozzles 238 extract thecorresponding small objects from the removed sorting tray wells 86. Thatis, the provided vacuum draws, or sucks, the corresponding small objectsinto contact with the tip 262 of the activated nozzles 238 such that thecorresponding small objects are free from the respective wells 86 andslightly above a top surface of the removed sorting tray 54. Theregulators 37 are operable such that the vacuum pressure provided at thetip 262 of each nozzle 238 is modulated to exert sufficient force toextract the respective small object without damaging the respectivesmall object. The extracted small objects are retained, or held, incontact with the respective nozzle tips 262 until the small objects aredeposited into the selected receptacles 98, as described below.

In the embodiments wherein the removed sorting tray 54 is raisedslightly to lightly contact the small objects with the nozzle tips 262prior to activation of the selected nozzles 238, after the selectednozzles 238 are activated, the removed sorting tray 54 is loweredslightly such that the corresponding small objects are extracted fromthe removed sorting tray 54. That is, the removed sorting tray 54 islowered slightly such that the corresponding small objects are free fromthe respective wells 86 and slightly able a top surface of the removedsorting tray 54.

Referring additionally to FIG. 5, after the selected small objects havebeen extracted, the carriage transporter 210 is operated to transportthe nozzle head 202, and the extracted small objects retained on therespective nozzle tips 262, to a small object extraction verificationposition between the extraction end 282 and the disposition end 280 ofthe carriage transporter 210. More specifically, the nozzle head 202 andextracted small objects are moved to a position directly above the smallobject verification assembly 30 that is located between the tray removaland positioning subsystem 18 and collection assembly positioningsubsystem 22. The small object extraction verification assembly 30 isstructured and operable to verify that the small object extractionsubsystem 26 actually extracted each of the selected seeds from the seedtray.

The small object extraction verification assembly 30 can be anyassembly, system, apparatus or device structured and operable, ascontrolled by the central control system 34, to verify that eachactivated vacuum nozzle 238 is, in fact, retaining the correspondingsmall object, thereby verifying that the selected small objects wereactually extracted from the removed sorting tray 54. For example, thesmall object extraction verification assembly 30 can comprise any X-raybased, magnetic based, sonic based, light based or laser based imagingdevice, or any other device suitable for verifying that each activatedvacuum nozzle 238 in fact retains a small object as the nozzle head 202is transported from the tray removal and positioning subsystem 18 to thecollection assembly positioning subsystem 22.

In various embodiments, the small object extraction verificationassembly 30 includes one or more digital imaging devices 286 positionedto capture digital image data of the nozzle tips 262 of the nozzle array234 as the nozzle head 202 is moved to the small object extractionverification position. Additionally, in various implementations, thesmall object extraction verification assembly 30 can include one or morelight sources 290 positioned to project light on the nozzle tips 262 ofthe nozzle array 234 as the nozzle head 202 is moved to the small objectextraction verification position.

The digital imaging device(s) 286 is/are communicatively linked tocentral control system 34. Hence, as the nozzle head 202 is moved to thesmall object extraction verification position, the digital imagingdevice(s) 286 capture digital image data of tips 262 of nozzles 238 andcommunicate the captured data to the central control system 34. Thecentral controls system 34 then executes a verification algorithm, or averification subroutine of the one or more system control algorithms, toanalyze the received image data and determine whether a small object isin fact retained on the tips 262 of the selected activated nozzles 238.For example, utilizing known data identifying the location, i.e.,Cartesian coordinates, of each nozzle tip 262 within nozzle array 234,the central control system 34 can analyze the captured image data todetermine whether the location of each activated nozzle tip 262 includesdata indicative of small object.

In various embodiments, if the image data at the location of any of theactivated nozzles tips 262 indicates that a small object was ‘missed,i.e., is not retained on the respective tip 262, the sorting system 10will deposit the selected small objects that were extracted into theselected receptacles 98, as described below. Then, subsequently, thesorting system 10 will reattempt to extract the ‘missed’ small object.Reattempting to extract any ‘missed’ small object can be repeated anydesirable number of times, e.g., twice. After the desired number ofreattempts, the sorting system will cease attempting to extract theparticular small object.

Referring now to FIG. 4A, once selected small objects have beenextracted from the respective removed sorting tray 54 and the extractionverified, as described above, the central control system 34 executes theone or more system control algorithms to coordinated the operation ofthe small object extraction subsystem 26 and the collection assemblypositioning subsystem 22 to selectively deposit the extracted smallobjects into one or more of the small object receptacles 98. Moreparticularly, the central control system 34 utilizes receptacle data,input to the central control system 34 prior to initiation of theoperation of the sorting system 10, the sorting tray information/dataand the small object identification data acquired by the cartinformation device reader 110 and the tray information device reader 158to deposit each of the extracted small objects into selected one or morereceptacles 98. Specifically, the extracted small objects are depositedinto the selected one or more receptacles 98 such that small objectshaving the same or similar attributes, e.g., characteristics and/ortraits such as size, shape, color, composition, quality, weight, genetictraits, etc., are deposited into the same receptacle 98.

In various embodiments, each receptacle 98 includes a receptacleidentification tag 294 containing the receptacle data. The receptacledata is used for identifying the respective receptacle 98 and catalogingthe selected small objects deposited into the particular receptacle 98.More particularly, in various embodiments, the receptacle identificationtags 294 are used to compile the receptacle data identifying thelocation, e.g., Cartesian coordinates, of each specific receptacle 98within the multi-receptacle receiving fixture 270. Each location withinthe multi-receptacle receiving fixture 270 corresponds to the location,e.g., Cartesian coordinates, of a respective funnel 278 of themulti-funnel small object disposition fixture 274 such that when themulti-receptacle receiving fixture 270 is placed within the collectionassembly 100, a dispensing end of each funnel 278 aligns with an opentop end of a corresponding receptacle 98. Therefore, to deposit eachextracted small object into a selected receptacle 98, the centralcontrol system 34 coordinates the operation of the small objectextraction subsystem 26 and the collection assembly positioningsubsystem 22 to deposit each extracted small object in the particularfunnel 278 corresponding to the respective selected receptacle 98.

The multi-receptacle receiving fixture 270 can be any fixture structuredto be removable retained within the collection assembly 100 and toprovide or receive a plurality of receptacles 98 having any desired formor structure. The multi-receptacle receiving fixture 270 can be anyfixture structured to retain a plurality of the collection receptacles98. Additionally, the collection receptacles 98 can be any type ofcollection devices, apparatus or structures suitable for receivingextracted small objects. For example, the receptacles 98 can compriseenvelopes, containers, tubes, cups, boxes or any other vessel suitablefor receiving and retaining the extracted small objects.

For example, as shown in FIG. 4A, in various embodiments, themulti-receptacle receiving fixture 270 can be structured to retain aplurality of envelope receptacles 98. In such embodiments, themulti-receptacle receiving fixture 270 can include a base 298 having aplurality of slot 302 formed therein and a top plate 306 that provides aplurality of open tubes 310. Each open tube 310 is disposed within thetop plate 306 such that each open tube is aligned with a bottom openingof a respective one of the funnels 278. The top plate 306 is connectedto and spaced apart from the base 298 via a standoff 314. Each envelopereceptacle 98 is placed in and retained by the multi-receptaclereceiving fixture 270 by placing one of a respective one of the opentubes 310 inside a top opening of the envelope receptacle 98 and abottom edge of each envelope receptacle 98 within a corresponding one ofthe base slots 302. The multi-receptacle receiving fixture 270 can thenbe placed within the collection assembly 100 such that the bottomopening of each funnel 278 aligns with a respective one of the opentubes 310. Accordingly, when a selected small object is released intoone of the funnels 278, as described above, the small object will travelthrough the funnel and the open tube 310 such that the small object isdeposited into the selected envelope receptacle 278.

Referring to FIG. 4E, in various other embodiments, wherein the smallobjects to be sorted are agricultural products such as seeds, themulti-receptacle receiving fixture 270 can comprise an alignmentplatform 314 structured to be removably retained within the collectionassembly 100 and to removable retain a multi-reservoir planter-readytray 318. In such embodiments, the receptacles 98 can comprise aplurality of plant-ready cups or reservoirs 322 included in, formed in,or disposed in the multi-reservoir indexing tray 318. The plant-readyreceptacles 98 can contain soil or other organic compound suitable andready for planting seeding. Therefore, each extracted seed can bedeposited into a respective funnel 98 whereby each seed is deposited, orplanted, directly into a selected one of the plant-ready receptacles 98.In such embodiments, the multi-funnel small object disposition fixture274 can be structured to provide a number of funnels 278 equal to thenumber of plant-ready receptacles 98 such that when the multi-receptaclereceiving fixture 270 is placed within the collection assembly 100, thedispensing end of each funnel 278 will be directly above and in closeproximity to a respective one of the plant-ready receptacles 98.Alternatively, each of the plurality of funnels 278 can be structuredand operable to direct extracted seeds to two or more plant-readyreceptacles 98.

In various embodiments, the 98 receptacles can include one or morediscard cans 322 structured to receive selected extracted objects.Hence, some or all of the small objects within a respective sorting tray54 can be sorted, whereby some of the small objects are sorted into thereceptacles 98 for further use and others are sorted into the discardcans 322 to be disposed of.

Generally, prior to initiating operation of the sorting system 10, eachreceptacle tag 294 is read and each receptacle 294 is assigned alocation within the multi-receptacle receiving fixture 270. Theidentification information for each receptacle 98 and the correspondinglocation of the receptacles 98 within the multi-receptacle receivingfixture 270 are stored in the central control system 34 as receptacledata used during execution of the one or more system control algorithms.

Each receptacle tags 294 can be any machine-readable identificationdevice, label or tag suitable for containing or storing information anddata, readable or retrievable by a receptacle tag reader (not shown)communicatively connected to the central control system 34, regarding orpertaining to each respective receptacle 98. For example, in variousimplementations, each receptacle tag 294 can comprise a two-dimensionalmatrix code or other machine-readable label, tag or device, such as aradio frequency identification (RFID) tag or a bar code label, fromwhich the information/data can be received and interpreted via wirelesscommunication such as optical signals, e.g., infrared signals, ormagnetic fields. Similarly, the receptacle tag reader can be any devicesuitable for reading the receptacle tags 294 and communicating thereceptacle data to the central control system 34. For example, invarious implementations, the receptacle tag reader can comprise a devicestructured and operable to read a two-dimensional matrix code or othermachine-readable label, tag or device, such as an RFID tag reader or abar code label reader, operable to read the receptacle data stored inthe respective receptacle tag 294 via wireless communication such asoptical signals, e.g., infrared signals, or magnetic fields.

To deposit the extracted small objects into the receptacles 98 thecentral control system 34 controls and coordinates the operation of thesmall object extraction subsystem 26 and the collection assemblypositioning subsystem 22 as follows. The carriage transporter 210 isoperated to transport the nozzle head 202 carrying the extracted smallobjects to, or near, the disposition end 280 of the carriage transporter210. At, or about, the same time, the collection assembly translationstage 266 is operated to position the funnel 278 corresponding to aselected one of the receptacles 98 at, or near, a location beneath thecarriage transporter disposition end 280. The vacuum provided to thenozzles 238 retaining the small objects to be deposited into theselected receptacle 98 is then terminated such the small object(s)is/are released and fall(s) into the funnel 278, and subsequently intothe selected receptacle 98.

More specifically, utilizing the known location of each funnel 278within the collection assembly 100 and the receptacle data of eachcorresponding receptacle 98, the following movements of the small objectextraction subsystem 26 and the collection assembly positioningsubsystem 22 are coordinated to position a selected funnel 98 directlybeneath and in close proximity to the nozzle tips 262 of the nozzlearray 234 positioned at, or near, the carriage transporter extractionend 282. As used herein, the selected funnel 98 will be understood toindicate the funnel 98 corresponding to a selected one of thereceptacles into which one or more of the extracted small objects are tobe deposited.

The collection assembly 100 is moved along the collection assemblytranslation stage 266 in the ⁺X and/or ⁻X direction to position theselected funnel 98 in alignment, in the ⁺Z and ⁻Z direction, with thenozzle head 202. The nozzle head 202 is then moved in the ⁺Z and/or ⁻Zdirection, as needed, to locate nozzle tips 262 of the nozzle array 234directly above and in close proximity to a top opening of the selectedfunnel 278. In various embodiments, the top opening of each funnel 278can be sized to be slightly larger than the outer dimensions of thenozzle array 234 such that the nozzle tip 262 of each nozzle 238 in thearray 234 is positioned directly above and in close proximity to theselected funnel 278 top opening.

Alternatively, the nozzle head 202 can be moved in the ⁺Z and/or ⁻Zdirection to position the nozzle tips 262 of the nozzle array 234 inalignment, in the ⁺X and ⁻X direction, with the selected funnel 98. Thecollection assembly 100 is then moved along the collection assemblytranslation stage 266 in the ⁺X and/or ⁻X direction, as needed, toposition the top opening of the selected funnel 278 directly beneath andin close proximity to the nozzle tips 262 of the nozzle array 234.

Once the nozzle array 234 is positioned directly above the selectedfunnel 278, the central control system 34 commands selected ones of theactivated nozzles 238 to deactivate, i.e., terminate the vacuum pressuresupplied to selected activated nozzles 238, thereby releasing selectedsmall object(s) into the top end of the selected funnel 278. Theselected funnel 278 guides the released small object(s) into theselected receptacle 98. As described above, the extracted small objectsare deposited into the selected receptacles 98 such that small objectshaving the same or similar attributes, e.g., characteristics and/ortraits such as size, shape, color, composition, quality, weight, genetictraits, etc., are deposited into the same receptacle 98.

If not all the extracted small objects are not deposited into the samereceptacle 98, the nozzle head 202 and collection assembly 100 aremoved, as described above to position the top opening of a subsequentselected funnel 278 directly beneath and in close proximity to thenozzle tips 262 of the nozzle array 234. Then other selected nozzles 238are deactivated, i.e., the vacuum pressure is terminated, such that oneor more subsequent selected small objects are released and depositedinto a subsequent selected receptacle 98 based on the attributes of therespective small objects. This process is repeated until all theextracted small objects have been deposited into the respective selectedreceptacles 98. Subsequently, the nozzle head 202 is moved back to thetray removal and positioning subsystem 18 and, if the selection datastipulated that subsequent small objects are to be extracted from theremoved sorting tray 54, the subsequent selected small objects areextracted and deposited into the selected receptacles 98 in the samemanner as described above.

Once all the selected small objects have been extracted and deposited,as stipulated by the selection data, the tray locating assembly 118 andthe tray locating assembly lift 122 are operated, as described above, toplace the removed sorting tray 54 back into the sorting tray cart 38.Thereafter, if needed, based on the selection data, the sorting trayinformation/data and the small object identification data, a subsequentsorting tray 54 is removed from the cart 38 and the selected smallobjects are extracted and deposited into the selected receptacles 98, asdescribed above. This process is repeated until the small object sortingsystem 10 has extracted and deposited, i.e., sorted, all the selectedsmall objects as stipulated by the selection data.

Referring to FIG. 6, in various embodiments, the central control system34 is a computer based system that generally includes at least oneprocessor 326 suitable to execute all functions of central controlsystem 34 to automatically, or robotically, control the operation of thesorting system 10, as described herein. The central control system 34additionally includes at least one electronic storage device 340 thatcomprises a computer readable medium, such as a hard drive or any otherelectronic data storage device for storing such things as softwarepackages or programs, algorithms and digital information, data, look-uptables, spreadsheets and databases. Furthermore, the central controlsystem 34 includes a display 334 for displaying such things asinformation, data and/or graphical representations, and at least oneuser interface device 338, such as a keyboard, mouse, stylus, and/or aninteractive touch-screen on the display 334. In various embodiments thecentral control system 34 can further include a removable media reader342 for reading information and data from and/or writing information anddata to removable electronic storage media such as floppy disks, compactdisks, DVD disks, zip disks, flash drives or any other computer readableremovable and portable electronic storage media. In various embodimentsthe removable media reader 342 can be an I/O port of the central controlsystem 34 utilized to read external or peripheral memory devices such asflash drives or external hard drives.

In various embodiments, the central control system 34, i.e., theprocessor 154 can be communicatively connectable to a remote servernetwork 346, e.g., a local area network (LAN), via a wired or wirelesslink. Accordingly, the central control system 34 can communicate withthe remote server network 346 to upload and/or download data,information, algorithms, software programs, and/or receive operationalcommands. Additionally, in various embodiments, the central controlsystem 34 can be structured and operable to access the Internet toupload and/or download data, information, algorithms, software programs,etc., to and from Internet sites and network servers.

In various embodiments, the central control system 34 can include one ormore system control algorithms, or programs 350, stored on the storagedevice 330 and executed by processor 326. The one or more system controlalgorithms utilize the small object selection data and the receptacledata input to the central control system 34 prior to initiation of theoperation of the sorting system 10, the sorting tray identification dataacquired by the cart information device reader 110, the small objectidentification data acquired by the tray information device reader 158,and other inputs from various components and sensors of the varioussystems, subsystems, assemblies and subassemblies of the sorting system10 to automatically operate the sorting system 10 as described herein.

The description herein is merely exemplary in nature and, thus,variations that do not depart from the gist of that which is describedare intended to be within the scope of the teachings. Such variationsare not to be regarded as a departure from the spirit and scope of theteachings.

What is claimed is:
 1. An automated method for sorting small objects,said method comprising: docking an object tray cart within an objecttray cart docking station of an automated small object sorting system;removing an object tray from the object tray cart utilizing an automatedtray removal and positioning subsystem of the automated small objectsorting system, wherein the object tray includes a plurality of wellsand a plurality of small objects stored within the wells; selectivelypositioning the removed tray utilizing the automated tray removal andpositioning subsystem such that selected ones of the small objects canbe extracted from the removed object tray; selectively positioning acollection assembly of the automated small object sorting systemutilizing an automated collection assembly positioning subsystem of theautomated small object sorting system such that the selected one or moresmall objects extracted from the removed object tray can be depositedinto selected one or more of a plurality of object receptacles of thecollection assembly; and extracting the selected one or more smallobjects from the object tray and depositing each extracted small objectinto the selected one or more object receptacles utilizing an automatedobject extraction subsystem of the automated small object sortingsystem; and replacing the removed object tray into the object tray cartafter the selected small objects have been extracted utilizing theautomated tray removal and positioning subsystem.
 2. The method of claim1 further comprising verifying that the object extraction subsystemextracted each of the selected small objects from the object trayutilizing an object extraction verification assembly of the automatedsmall object sorting system.
 3. The method of claim 2, wherein verifyingthat the object extraction subsystem extracted each of the selectedsmall objects comprises: capturing image data of one or more nozzleheads of the object extraction subsystem utilizing one or more imagingdevices of the object extraction verification assembly; andcommunicating the image data to a central control system of theautomated small object sorting system to verify whether selected ones ofa plurality of nozzles of the nozzle head have an extracted smallobjected retained on a tip of each selected nozzle.
 4. The method ofclaim 1, wherein removing the object tray from the object tray cartcomprises: removing selected object trays from the docked object traycart, selectively positioning the removed object tray such that selectedones of the small objects can be extracted from the removed object tray,and reinserting the removed object trays into the docked object traycart after the selected small objects have been extracted utilizing atray locating assembly structured and operable of the tray removal andpositioning subsystem; and selectively raising and/or lowering the traylocating assembly utilizing a tray locating assembly lift of the trayremoval and positioning subsystem.
 5. The method of claim 4, whereinremoving the object tray from the object tray cart further comprisesread a tray information tag affixed to each object tray stored in thecart utilizing a tray information tag reader of the tray removal andpositioning subsystem, each tray information tag including: informationidentifying each respective object tray; identifying information of eachsmall object stored in each respective object tray; and a location,within the respective object tray, of the well in which each respectivesmall object is stored.
 6. The method of claim 1, wherein extracting theselected one or more small objects from the object tray comprisesextracting the selected one or more small objects from the object trayremoved by the tray removal and positioning subsystem and depositingeach extracted small object into the selected one or more objectreceptacles of the collection assembly utilizing a pair of opposingobject transfer assemblies of the object extraction subsystem, theobject transfer assemblies extending between the tray removal andpositioning subsystem and the collection assembly positioning subsystem.7. The method of claim 6, wherein each object transfer assemblycomprises a nozzle head removably mounted to a nozzle head carriagemounted to a carriage transporter, and extracting the selected one ormore small objects from the object tray comprises moving the nozzle headcarriage and nozzle head between the tray removal and positioningsubsystem and the collection assembly positioning subsystem utilizingthe carriage transporter.
 8. The method of claim 7, wherein extractingthe selected one or more small objects from the object tray furthercomprises magnetically mounting the nozzle head to the nozzle headcarriage utilizing one or more magnets included in at least one of thenozzle head carriage and the nozzle head comprise.
 9. The method ofclaim 7, wherein extracting the selected one or more small objects fromthe object tray further comprises selectively providing a vacuum to atip of each of a plurality of nozzles in a nozzle array of each nozzlehead, the vacuum used to extract the selected one or more small objectsfrom the object tray and retain the one or more extracted small objectswhen the nozzle head is moved from the tray removal and positioningsubsystem to the collection assembly positioning subsystem to transportthe one or more extracted small objects from the object tray to thecollection assembly.
 10. The method of claim 7, wherein each carriagetransporter comprises a linear motor, and extracting the selected one ormore small objects from the object tray further comprises producing acontrollable linear force, utilizing the linear motor, to controllablymove the nozzle head carriage and nozzle head between the tray removaland positioning subsystem and the collection assembly positioningsubsystem.
 11. The method of claim 9 further comprising controllingoperation of the tray removal and positioning subsystem and the objectextraction subsystem utilizing a central control system operable toutilize electronically stored data, to position the respective nozzlehead and the object tray relative to each other and to stipulatespecific ones of the nozzles to which the vacuum is provided such thatthe selected one or more small objects are extracted from the objecttray, wherein the data comprises data identifying particular traits orcharacteristics of each small object in the object tray and the locationof each respective small object within the object tray such that thesmall objects are extracted based on the traits or characteristics ofeach respective small object.
 12. The method of claim 11, whereinpositioning the collection assembly comprises utilizing a single axisstage of the collection assembly positioning subsystem to selectivelypositioning the collection assembly along a longitudinal axis of thesingle axis stage.
 13. The method of claim 12, wherein the collectionassembly comprises a multi-receptacle object receiving fixture includingthe one or more object receptacles, and a multi-funnel objectdisposition fixture that includes a plurality of funnels, and whereinpositioning the collection assembly further comprises receiving the oneor more extracted small objects in selected ones of the funnels wherebythe one or more small objects are deposited into the selected one ormore object receptacles.
 14. The method of claim 12, wherein the singleaxis stage comprises a linear motor, and positioning the collectionassembly further comprises producing a controllable linear force toselectively position the collection assembly along a longitudinal axisof the linear motor such that the selected ones of the funnels arepositioned beneath a selected one of the nozzle heads, whereby the oneor more extracted small objects can be deposited into the selected oneor more object receptacles.
 15. The method of claim 12 furthercomprising controlling operation of the object extraction subsystem andthe collection assembly positioning subsystem via the central controlsystem utilizing the electronically stored data to position therespective nozzle head and the multi-funnel object disposition fixturerelative to each other and to stipulate specific ones of the nozzles forwhich the vacuum is terminated such that the selected one or more smallobjects are released from the respective nozzle into a selected one ofthe funnels such that each small object is deposited into acorresponding selected object receptacle.
 16. The method of claim 13,wherein the one or more object receptacles comprises a plurality ofcontainers and the multi-receptacle object receiving fixture isstructured to retain and position the containers, and whereinselectively positioning the collection assembly further comprisesaligning an open end of each container with a dispensing end of acorresponding one of the funnels such that selected small objects can bedeposited into selected containers.
 17. The method of claim 13, whereinthe one or more object receptacles comprises a plurality of plant-readycups and the multi-receptacle object receiving fixture includes analignment platform structured to retain and position the plant-readycups, and wherein selectively positioning the collection assemblyfurther comprises aligning an open end of each plant-ready cup with adispensing end of a corresponding one of the funnels such that selectedsmall objects can be deposited into selected plant-ready cups.
 18. Themethod of claim 2, wherein the small objects comprise seeds, the objecttray comprises a seed tray, and the object receptacles comprise seedreceptacles.